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To avoid the complex modeling process of the system object and design the controllers for nonlinear systems fast and effectively, the design of the feedback controller of the nonlinear system draws lessons from the thinking of the virtual reference feedback tuning method. On this basis, in order to improve the system stability and eliminate the uncertain disturbance, adding a linear controller in the feedback loop can improve the tracking performance of the system, and the design is converteddoi:10.3303/cet1651212 doaj:d012d66fa5ee4472b76d1c05388a7c2f fatcat:l2gfybb2yne73iz62sicn3f5l4